Rockwell Automation GMLC Reference Manual - Manual (Page 857)

Publication GMLC-5.2 - November 1999
820 Axis Locked and Axis Done Conditions
Conversely, in continuous process applications where gearing or position-
lock cams are active, moves, jogs, and time-lock cams are used to adjust
synchronization between moving axes. In these applications it is most
important to know whether the axis is in position (locked) at all times
regardless of what motions are being commanded. Thus the Lock_status
variable and the related axis locked conditions are designed to function
differently depending on how the axis is being used.
Interpolated Motion
Like single-axis moves, jogs, and time-lock cams, interpolated motion is
considered done when the command position of any of the specified axes
is no longer changing as a result of an Interpolate Axes block. In other
words, the interpolator has finished commanding the axes to move. When
two interpolated motion segments are merged together, the interpolated
motion is not done until the final merged segment is done.
For example, the following figure shows what happens when a two-axis
linear move is merged into another two-axis linear move at the same
speed.